Bio-Inspired Robotic Undulatory Stingray

The purpose of this study was to investigate fin undulation as a form of locomotion. The analysis generated CFD simulations and models that identify characteristics that are known to indicate propulsive forces. A mechanical undulating fin was designed and built to experimentally validate these computational results. Comparing thrust data from the mechanical fin with the CFD results yielded qualitative agreement with various parameters including wave amplitude, wave speed, and wave number. Quantifying these characteristics are necessary towards understanding the mechanics of undulation and will aid in the design and control of underwater undulating robotics.